def __init__(self, pb_file=None, message_type=None, datafile=None):
self.samples_np = Message_np(pb_file, message_type, datafile)
self.data = np.ma.array(self.samples_np.get_messages_np())
self.dtype = self.samples_np.message_npdtype_map[message_type]
self.full_fields = []
self.cm = plt.get_cmap('gist_rainbow')
self.dtype_c = {}
self.data_c = {}
self._set_full_fields()
import os
import sys
sys.path.append(
os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", "proto"))
import numpy as np
import matplotlib.pyplot as plt
from message_np import Message_np
samples_np = Message_np('sample_pb2', 'Sample', 'samples.dat')
data = samples_np.get_messages_np()
fig, ax = plt.subplots(1)
ax.plot(data['system_time'], data['mpu6050']['gyroscope_x'],
data['system_time'], data['mpu6050']['gyroscope_y'],
data['system_time'], data['mpu6050']['gyroscope_z'])
ax.legend(('x', 'y', 'z'), loc=0)
ax.set_xlabel('time [s]')
ax.set_ylabel('angular velocity [rad/s^2]')
ax.set_title('MPU-6050 rate gyroscope measurements')
plt.show()
